Vision-based Cartesian space motion control for flexible robotic manipulators

摘要

This paper addresses the issue of Cartesian space trajectory tracking control of robot arms with link flexibility. A control method using vision feedback is proposed based on dynamics of the robot and Lyapunov stability theory. A CCD camera and video tracker are used as a vision system for the measurement of end-effector position and link flexural behaviour in the control process. Using this vision system the end-effector position is measured directly, whereas the link deflections are measured indirectly based on kinematics and inverse kinematics of the flexible robot. End-effector trajectory tracking control experiments are carried out using a two-link flexible robot system as the test bed. The results demonstrate effectiveness and usefulness of the proposed sensing and control methods.